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commander state machine helper pass battery and safety as const references

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This commit is contained in:
Daniel Agar
2018-03-27 16:27:47 -04:00
parent 4ccfc280c8
commit db7e8635a2
4 changed files with 48 additions and 98 deletions
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src/modules/commander/state_machine_helper.h
+12 -12
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@@ -79,17 +79,17 @@ extern const char *const arming_state_names[];
bool is_safe(const safety_s& safety, const actuator_armed_s& armed);
transition_result_t arming_state_transition(struct vehicle_status_s *status,
struct battery_status_s *battery,
const struct safety_s *safety,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
transition_result_t arming_state_transition(vehicle_status_s *status,
const battery_status_s& battery,
const safety_s& safety,
const arming_state_t new_arming_state,
actuator_armed_s *armed,
const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
vehicle_status_flags_s *status_flags,
float avionics_power_rail_voltage,
uint8_t arm_requirements,
hrt_abstime time_since_boot);
const float avionics_power_rail_voltage,
const uint8_t arm_requirements,
const hrt_abstime& time_since_boot);
transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state);
@@ -124,8 +124,8 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status,
const bool use_rc, // true if a mode using RC control can be used as a fallback
const bool using_global_pos); // true when the current mode requires a global position estimate
int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm,
bool force_report, vehicle_status_flags_s *status_flags, battery_status_s *battery,
uint8_t arm_requirements, hrt_abstime time_since_boot);
int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm,
const bool force_report, vehicle_status_flags_s *status_flags, const battery_status_s& battery,
const uint8_t arm_requirements, const hrt_abstime& time_since_boot);
#endif /* STATE_MACHINE_HELPER_H_ */